Collision-Free Bearing-Driven Formation Tracking for Euler-Lagrange Systems
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arXiv
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| Main Authors: | , , , |
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| Format: | Preprint |
| Published: |
2025
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| _version_ | 1866918124544065536 |
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| author | Cheng, Haoshu Guay, Martin Wang, Shimin Che, Yunhong |
| author_facet | Cheng, Haoshu Guay, Martin Wang, Shimin Che, Yunhong |
| contents | In this paper, we investigate the problem of tracking formations driven by bearings for heterogeneous Euler-Lagrange systems with parametric uncertainty in the presence of multiple moving leaders. To estimate the leaders' velocities and accelerations, we first design a distributed observer for the leader system, utilizing a bearing-based localization condition in place of the conventional connectivity assumption. This observer, coupled with an adaptive mechanism, enables the synthesis of a novel distributed control law that guides the formation towards the target formation, without requiring prior knowledge of the system parameters. Furthermore, we establish a sufficient condition, dependent on the initial formation configuration, that ensures collision avoidance throughout the formation evolution. The effectiveness of the proposed approach is demonstrated through a numerical example. |
| format | Preprint |
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arxiv_https___arxiv_org_abs_2508_09908 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Collision-Free Bearing-Driven Formation Tracking for Euler-Lagrange Systems Cheng, Haoshu Guay, Martin Wang, Shimin Che, Yunhong Systems and Control Robotics Mathematical Physics Optimization and Control Pattern Formation and Solitons In this paper, we investigate the problem of tracking formations driven by bearings for heterogeneous Euler-Lagrange systems with parametric uncertainty in the presence of multiple moving leaders. To estimate the leaders' velocities and accelerations, we first design a distributed observer for the leader system, utilizing a bearing-based localization condition in place of the conventional connectivity assumption. This observer, coupled with an adaptive mechanism, enables the synthesis of a novel distributed control law that guides the formation towards the target formation, without requiring prior knowledge of the system parameters. Furthermore, we establish a sufficient condition, dependent on the initial formation configuration, that ensures collision avoidance throughout the formation evolution. The effectiveness of the proposed approach is demonstrated through a numerical example. |
| title | Collision-Free Bearing-Driven Formation Tracking for Euler-Lagrange Systems |
| topic | Systems and Control Robotics Mathematical Physics Optimization and Control Pattern Formation and Solitons |
| url | https://arxiv.org/abs/2508.09908 |